Glider dive log

OKMC Nov12 * SG129 * Dive index * Mission links * Dive 253 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 129 HD_C 9.8541004e-06 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 4 HEADING -1 ROLL_MAX 3935 ALTIM_PING_DEPTH 0

DIVE 253 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1925 ALTIM_FREQUENCY 13

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1900 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 400 R_PORT_OVSHOOT 78 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 20 N_FILEKB 4 R_STBD_OVSHOOT 90 INT_PRESSURE_YINT 0

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

D_CALL 0 N_NOCOMM 2 VBD_MIN 210 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3600 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2409 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 390 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 410 CALL_WAIT 60 VBD_TIMEOUT 540 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -13 T_GPS_CHARGE -2973.3364 CF8_MAXERRORS 0 PHONE_DEVICE 48

USE_ICE 0 T_RSLEEP 3 AH0_24V 149.5 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 98.599998 RAFOS_DEVICE -1

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 MINV_24V 22 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9.5 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 80 FG_AHR_24V 120.57124 SEABIRD_T_G 0.004337111

MAX_BUOY 180 PITCH_MAX 3800 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062520173

COURSE_BIAS 0 C_PITCH 2160 PRESSURE_YINT -51.692307 SEABIRD_T_I 2.3466939e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001153375 SEABIRD_T_J 2.4866913e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125753 AD7714Ch0Gain 128 SEABIRD_C_G -10.062903

RHO 1.0275 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1231569

MASS 51538 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017987719

NAV_MODE 2 PITCH_TIMEOUT 15 COMPASS_USE 4 SEABIRD_C_J 0.0002252144

FERRY_MAX 45 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0.0049999999 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 98.599998 D_PITCH 0 PITCH_ADJ_DBAND 2 SIM_W 0

AH0_24V 149.5 D_SAFE 0 PITCH_ADJ_GAIN 0.0049999999 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 175 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.003125753 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3800 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 120.57124 PITCH_MIN 80 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001153375 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_YINT -51.692307 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 1 T_BOOST 0

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 390

CALL_WAIT 60 HD_C 9.8541004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -2973.3364

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 129 RHO 1.0275 T_MISSION 410

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2160 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1900 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 1925 LOGGERDEVICE3 -1 ROLL_MAX 3935 UNCOM_BLEED 20

C_VBD 2409 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 215 USE_BATHY -13

DEEPGLIDERMB 0 MASS 51538 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 180 R_PORT_OVSHOOT 78 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 90 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 4 SC_RECORDABOVE 2000.0 VBD_MAX 3600

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_G -10.062903 VBD_MIN 210

DIVE 253 NOCOMM_ACTION 163 SEABIRD_C_H 1.1231569 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_DIVES 0 SEABIRD_C_I -0.0017987719 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 20 N_FILEKB 4 SEABIRD_C_J 0.0002252144 VBD_TIMEOUT 540

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.004337111 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_H 0.00062520173 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.3466939e-05 XPDR_VALID 4

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_J 2.4866913e-06

Pre-dive calculations and measurements:

GPS1 030113,202637,1829.532,12219.795,41,1.2,44,-2.0 TGT_NAME S2

_CALLS 1 TGT_LATLONG 2015.000,12420.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030113,203339,1829.573,12219.768,12,2.6,31,-2.0 MHEAD_RNG_PITCHd_Wd 5.7,285946,-14.2,-8.462,-17.62

SPEED_LIMITS 0.147,0.266 D_GRID 436

Post-dive calculations and measurements:

FINISH 0.9,1.022521 _10V_AH 10.0,35.242

SM_CCo 9554,0.00,0.000,0,0,205,540.64 FG_AHR_24Vo 120.571

SM_GC 1.52,6.30,0.00,0.00,0.038,0.000,0.000,53,1903,205,-6.47,-0.71,540.64,0,0,0,0,0,0,26.34,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1823.67,12220.08,030113,181825 MEM 308676

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 20053,535

HUMID 53.74 CAP_FILE_SIZE 122889,0

INTERNAL_PRESSURE 9.29723 CFSIZE 260034560,226459648

TCM_TEMP 23.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.132,145.9,1

SC_FREEKB 3923232 GPS 030113,231407,1830.387,12220.146,9,1.9,9,-2.0

_24V_AH 24.2,50.176

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 240 90.68 nil 0 0 0.00

Roll_motor 79 47 91.77 nil 0 0 0.00

VBD_pump_during_apogee 567 976 13399.91 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9495 18 4152.34

Iridium_during_xfer 244 129 764.03 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 31 10.47

TT8 1596 11 179.75

LPSleep 5993 2 131.26

TT8_Active 592 11 66.73

TT8_Sampling 1557 37 583.90

TT8_CF8 241 44 108.70

TT8_Kalman 0 0 0.00

Analog_circuits 1601 15 251.47

GPS_charging 0 0 0.00

Compass 1236 8 101.88

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.54 -175.2 0.0 0.0 0 92 0.00 0.00 -71.12 0.000 2 0.000 0.000 61 1934 1941 0 0 0 0 0 0 28.83 28.83 28.83

95 -0.54 -175.2 3.3 -5.8 12 139 7.75 2.05 -27.20 0.000 4 0.241 0.047 1966 3296 3126 0 0 0 0 0 0 25.36 26.25 26.64

201 -0.48 -175.2 26.1 -26.1 30 208 0.15 1.95 0.00 0.000 6 0.161 0.023 2006 1912 3126 0 0 0 0 0 0 25.98 26.38 28.83

508 -0.43 -175.2 104.3 -18.0 50 513 0.00 1.98 0.00 0.000 4 0.000 0.030 2006 534 3127 0 0 0 0 0 0 28.83 26.39 28.83

645 -0.38 -175.2 128.7 -20.5 56 653 0.10 1.98 0.00 0.000 6 0.129 0.021 2046 1913 3128 0 0 0 0 0 0 26.10 26.46 28.83

951 -0.38 -175.2 163.2 -9.0 72 956 0.00 2.05 0.00 0.000 4 0.000 0.033 2037 3320 3128 0 0 0 0 0 0 28.83 26.36 28.83

997 -0.38 -175.2 167.0 -8.8 74 1002 0.00 1.92 0.00 0.000 6 0.000 0.021 2037 1917 3128 0 0 0 0 0 0 28.83 26.48 28.83

1315 -0.38 -175.2 199.3 -11.5 90 1321 0.00 1.95 0.00 0.000 4 0.000 0.030 2037 552 3128 0 0 0 0 0 0 28.83 26.41 28.83

1528 -0.38 -175.2 224.6 -11.7 100 1533 0.00 1.98 0.00 0.000 6 0.000 0.021 2034 1933 3127 0 0 0 0 0 0 28.83 26.47 28.83

1841 -0.38 -175.2 255.1 -8.7 116 1842 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 1934 3126 0 0 0 0 0 0 28.83 28.83 28.83

2143 -0.38 -175.2 278.7 -7.5 131 2148 0.00 2.03 0.00 0.000 4 0.000 0.029 2033 544 3124 0 0 0 0 0 0 28.83 26.40 28.83

2186 -0.38 -175.2 282.7 -8.0 133 2191 0.00 1.95 0.00 0.000 6 0.000 0.021 2033 1939 3124 0 0 0 0 0 0 28.83 26.47 28.83

2510 -0.38 -175.2 306.8 -7.4 149 2515 0.00 2.00 0.00 0.000 4 0.000 0.030 2033 553 3124 0 0 0 0 0 0 28.83 26.39 28.83

2547 -0.38 -175.2 308.6 -7.5 150 2554 0.00 1.95 0.00 0.000 6 0.000 0.021 2033 1933 3123 0 0 0 0 0 0 28.83 26.46 28.83

2854 -0.39 -175.2 330.9 -6.7 166 2860 0.00 2.00 0.00 0.000 4 0.000 0.029 2034 546 3122 0 0 0 0 0 0 28.83 26.39 28.83

2903 -0.41 -175.2 334.3 -7.1 168 2908 0.00 1.92 0.00 0.000 6 0.000 0.021 2034 1925 3122 0 0 0 0 0 0 28.83 26.46 28.83

3221 -0.42 -175.2 354.1 -6.1 184 3227 0.00 2.00 0.00 0.000 4 0.000 0.030 2033 543 3120 0 0 0 0 0 0 28.83 26.39 28.83

3245 -0.43 -175.2 355.8 -6.6 185 3250 0.00 1.95 0.00 0.000 6 0.000 0.021 2034 1930 3121 0 0 0 0 0 0 28.83 26.47 28.83

3569 -0.44 -175.2 377.7 -7.9 201 3574 0.00 2.03 0.00 0.000 4 0.000 0.028 2034 546 3118 0 0 0 0 0 0 28.83 26.39 28.83

3586 -0.46 -175.2 377.7 -7.9 201 3593 0.00 1.95 0.00 0.000 6 0.000 0.022 2033 1929 3118 0 0 0 0 0 0 28.83 26.45 28.83

3893 -0.47 -175.2 401.7 -7.2 217 3894 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 1933 3116 0 0 0 0 0 0 28.83 28.83 28.83

4193 -0.49 -175.2 423.2 -9.2 232 4195 0.00 0.00 -0.10 0.000 6 0.000 0.000 2033 1931 3135 0 0 0 0 0 0 28.83 28.83 25.97

4351 end dive: TARGET_DEPTH_EXCEEDED

state 4351 begin apogee

4356 -0.17 0.0 436.2 -7.8 240 4499 0.20 0.00 136.57 0.976 6 0.122 0.000 2103 1931 2410 0 0 0 0 0 0 26.17 28.83 24.22

4500 end apogee: CONTROL_FINISHED_OK

state 4501 begin climb

4502 0.54 175.2 438.9 0.0 247 4655 0.65 2.15 136.68 0.946 4 0.091 0.032 2332 3291 1692 0 0 0 0 0 0 25.37 25.26 24.18

4681 0.56 175.2 423.1 11.1 256 4686 0.00 2.00 0.00 0.000 6 0.000 0.023 2340 1910 1690 0 0 0 0 0 0 28.83 25.77 28.83

4999 0.58 175.2 397.3 8.7 272 5000 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 1910 1685 0 0 0 0 0 0 28.83 28.83 28.83

5301 0.61 225.1 380.1 6.8 287 5349 0.00 2.15 39.12 0.929 4 0.000 0.033 2340 3286 1490 0 0 0 0 0 0 28.83 25.73 24.56

5372 0.64 261.3 375.6 7.3 290 5411 0.00 2.03 29.85 0.905 6 0.000 0.022 2347 1891 1344 0 0 0 0 0 0 28.83 25.99 24.44

5725 0.68 296.9 352.3 7.3 308 5764 0.00 2.10 29.42 0.907 4 0.000 0.035 2347 525 1198 0 0 0 0 0 0 28.83 25.82 24.65

5787 0.71 320.9 347.5 7.7 311 5816 0.12 1.98 20.83 0.881 6 0.096 0.021 2400 1919 1099 0 0 0 0 0 0 25.94 26.06 24.51

6129 0.71 320.9 312.0 9.7 328 6134 0.00 1.98 0.00 0.000 4 0.000 0.033 2401 3272 1094 0 0 0 0 0 0 28.83 26.29 28.83

6205 0.71 320.9 305.9 9.6 331 6213 0.00 1.95 0.00 0.000 6 0.000 0.024 2407 1895 1092 0 0 0 0 0 0 28.83 26.40 28.83

6511 0.71 320.9 274.7 9.9 347 6518 0.00 2.03 0.00 0.000 4 0.000 0.035 2412 516 1092 0 0 0 0 0 0 28.83 26.34 28.83

6549 0.71 320.9 272.1 10.3 348 6556 0.00 1.95 0.00 0.000 6 0.000 0.021 2412 1911 1091 0 0 0 0 0 0 28.83 26.45 28.83

6855 0.71 320.9 237.3 10.8 364 6861 0.00 2.00 0.00 0.000 4 0.000 0.033 2412 3278 1090 0 0 0 0 0 0 28.83 26.35 28.83

6943 0.71 320.9 227.8 11.4 368 6949 0.00 1.95 0.00 0.000 6 0.000 0.023 2412 1897 1090 0 0 0 0 0 0 28.83 26.45 28.83

7261 0.71 320.9 193.4 11.7 384 7266 0.00 2.03 0.00 0.000 4 0.000 0.035 2412 518 1089 0 0 0 0 0 0 28.83 26.34 28.83

7333 0.72 320.9 186.6 11.0 387 7339 0.00 1.92 0.00 0.000 6 0.000 0.020 2412 1891 1089 0 0 0 0 0 0 28.83 26.47 28.83

7648 0.73 320.9 154.8 9.4 403 7649 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1895 1089 0 0 0 0 0 0 28.83 28.83 28.83

7949 0.77 367.9 130.0 6.9 418 7993 0.00 2.10 37.45 0.770 4 0.000 0.029 2412 3292 909 0 0 0 0 0 0 28.83 25.84 24.66

8057 0.80 390.7 122.1 7.7 423 8081 0.00 2.00 19.83 0.732 6 0.000 0.024 2412 1896 816 0 0 0 0 0 0 28.83 26.13 24.68

8394 0.86 467.6 97.3 6.0 440 8464 0.00 2.10 61.47 0.731 4 0.000 0.034 2412 514 502 0 0 0 0 0 0 28.83 25.64 24.64

8517 0.94 550.0 90.0 5.8 446 8581 0.15 2.03 56.03 0.708 6 0.083 0.019 2481 1921 209 0 0 0 0 0 0 25.94 26.06 24.58

8900 1.01 643.2 55.1 5.4 465 8905 0.00 1.98 0.00 0.000 4 0.000 0.028 2481 3285 206 0 0 0 0 0 0 28.83 26.29 28.83

8938 1.08 746.7 54.4 5.1 466 8945 0.00 2.00 0.00 0.000 6 0.000 0.023 2481 1886 206 0 0 0 0 0 0 28.83 26.36 28.83

9244 1.18 883.4 29.6 4.0 495 9250 0.12 2.00 0.00 0.000 4 0.093 0.031 2552 514 205 0 0 0 0 0 0 26.45 26.34 28.83

9293 1.20 883.4 25.7 8.6 499 9300 0.00 1.92 0.00 0.000 6 0.000 0.019 2552 1898 205 0 0 0 0 0 0 28.83 26.46 28.83

9462 end climb: SURFACE_DEPTH_REACHED

state 9462 begin surface coast

9479 end surface coast: CONTROL_FINISHED_OK

state 9479 begin surface

ID	129	HD_C	9.8541004e-06	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	4	HEADING	-1	ROLL_MAX	3935	ALTIM_PING_DEPTH	0
DIVE	253	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1925	ALTIM_FREQUENCY	13
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1900	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	400	R_PORT_OVSHOOT	78	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	20	N_FILEKB	4	R_STBD_OVSHOOT	90	INT_PRESSURE_YINT	0
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
D_CALL	0	N_NOCOMM	2	VBD_MIN	210	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3600	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2409	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	390	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	410	CALL_WAIT	60	VBD_TIMEOUT	540	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-13	T_GPS_CHARGE	-2973.3364	CF8_MAXERRORS	0	PHONE_DEVICE	48
USE_ICE	0	T_RSLEEP	3	AH0_24V	149.5	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	98.599998	RAFOS_DEVICE	-1
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	MINV_24V	22	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9.5	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	80	FG_AHR_24V	120.57124	SEABIRD_T_G	0.004337111
MAX_BUOY	180	PITCH_MAX	3800	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062520173
COURSE_BIAS	0	C_PITCH	2160	PRESSURE_YINT	-51.692307	SEABIRD_T_I	2.3466939e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001153375	SEABIRD_T_J	2.4866913e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125753	AD7714Ch0Gain	128	SEABIRD_C_G	-10.062903
RHO	1.0275	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1231569
MASS	51538	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017987719
NAV_MODE	2	PITCH_TIMEOUT	15	COMPASS_USE	4	SEABIRD_C_J	0.0002252144
FERRY_MAX	45	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0.0049999999	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0

GPS1	030113,202637,1829.532,12219.795,41,1.2,44,-2.0	TGT_NAME	S2
_CALLS	1	TGT_LATLONG	2015.000,12420.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030113,203339,1829.573,12219.768,12,2.6,31,-2.0	MHEAD_RNG_PITCHd_Wd	5.7,285946,-14.2,-8.462,-17.62
SPEED_LIMITS	0.147,0.266	D_GRID	436

FINISH	0.9,1.022521	_10V_AH	10.0,35.242
SM_CCo	9554,0.00,0.000,0,0,205,540.64	FG_AHR_24Vo	120.571
SM_GC	1.52,6.30,0.00,0.00,0.038,0.000,0.000,53,1903,205,-6.47,-0.71,540.64,0,0,0,0,0,0,26.34,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1823.67,12220.08,030113,181825	MEM	308676
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	20053,535
HUMID	53.74	CAP_FILE_SIZE	122889,0
INTERNAL_PRESSURE	9.29723	CFSIZE	260034560,226459648
TCM_TEMP	23.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.132,145.9,1
SC_FREEKB	3923232	GPS	030113,231407,1830.387,12220.146,9,1.9,9,-2.0
_24V_AH	24.2,50.176

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	240	90.68	nil	0	0	0.00
Roll_motor	79	47	91.77	nil	0	0	0.00
VBD_pump_during_apogee	567	976	13399.91	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9495	18	4152.34
Iridium_during_xfer	244	129	764.03	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	31	10.47
TT8	1596	11	179.75
LPSleep	5993	2	131.26
TT8_Active	592	11	66.73
TT8_Sampling	1557	37	583.90
TT8_CF8	241	44	108.70
TT8_Kalman	0	0	0.00
Analog_circuits	1601	15	251.47
GPS_charging	0	0	0.00
Compass	1236	8	101.88
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.54	-175.2	0.0	0.0	0	92	0.00	0.00	-71.12	0.000	2	0.000	0.000	61	1934	1941	0	0	0	0	0	0	28.83	28.83	28.83
95	-0.54	-175.2	3.3	-5.8	12	139	7.75	2.05	-27.20	0.000	4	0.241	0.047	1966	3296	3126	0	0	0	0	0	0	25.36	26.25	26.64
201	-0.48	-175.2	26.1	-26.1	30	208	0.15	1.95	0.00	0.000	6	0.161	0.023	2006	1912	3126	0	0	0	0	0	0	25.98	26.38	28.83
508	-0.43	-175.2	104.3	-18.0	50	513	0.00	1.98	0.00	0.000	4	0.000	0.030	2006	534	3127	0	0	0	0	0	0	28.83	26.39	28.83
645	-0.38	-175.2	128.7	-20.5	56	653	0.10	1.98	0.00	0.000	6	0.129	0.021	2046	1913	3128	0	0	0	0	0	0	26.10	26.46	28.83
951	-0.38	-175.2	163.2	-9.0	72	956	0.00	2.05	0.00	0.000	4	0.000	0.033	2037	3320	3128	0	0	0	0	0	0	28.83	26.36	28.83
997	-0.38	-175.2	167.0	-8.8	74	1002	0.00	1.92	0.00	0.000	6	0.000	0.021	2037	1917	3128	0	0	0	0	0	0	28.83	26.48	28.83
1315	-0.38	-175.2	199.3	-11.5	90	1321	0.00	1.95	0.00	0.000	4	0.000	0.030	2037	552	3128	0	0	0	0	0	0	28.83	26.41	28.83
1528	-0.38	-175.2	224.6	-11.7	100	1533	0.00	1.98	0.00	0.000	6	0.000	0.021	2034	1933	3127	0	0	0	0	0	0	28.83	26.47	28.83
1841	-0.38	-175.2	255.1	-8.7	116	1842	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	1934	3126	0	0	0	0	0	0	28.83	28.83	28.83
2143	-0.38	-175.2	278.7	-7.5	131	2148	0.00	2.03	0.00	0.000	4	0.000	0.029	2033	544	3124	0	0	0	0	0	0	28.83	26.40	28.83
2186	-0.38	-175.2	282.7	-8.0	133	2191	0.00	1.95	0.00	0.000	6	0.000	0.021	2033	1939	3124	0	0	0	0	0	0	28.83	26.47	28.83
2510	-0.38	-175.2	306.8	-7.4	149	2515	0.00	2.00	0.00	0.000	4	0.000	0.030	2033	553	3124	0	0	0	0	0	0	28.83	26.39	28.83
2547	-0.38	-175.2	308.6	-7.5	150	2554	0.00	1.95	0.00	0.000	6	0.000	0.021	2033	1933	3123	0	0	0	0	0	0	28.83	26.46	28.83
2854	-0.39	-175.2	330.9	-6.7	166	2860	0.00	2.00	0.00	0.000	4	0.000	0.029	2034	546	3122	0	0	0	0	0	0	28.83	26.39	28.83
2903	-0.41	-175.2	334.3	-7.1	168	2908	0.00	1.92	0.00	0.000	6	0.000	0.021	2034	1925	3122	0	0	0	0	0	0	28.83	26.46	28.83
3221	-0.42	-175.2	354.1	-6.1	184	3227	0.00	2.00	0.00	0.000	4	0.000	0.030	2033	543	3120	0	0	0	0	0	0	28.83	26.39	28.83
3245	-0.43	-175.2	355.8	-6.6	185	3250	0.00	1.95	0.00	0.000	6	0.000	0.021	2034	1930	3121	0	0	0	0	0	0	28.83	26.47	28.83
3569	-0.44	-175.2	377.7	-7.9	201	3574	0.00	2.03	0.00	0.000	4	0.000	0.028	2034	546	3118	0	0	0	0	0	0	28.83	26.39	28.83
3586	-0.46	-175.2	377.7	-7.9	201	3593	0.00	1.95	0.00	0.000	6	0.000	0.022	2033	1929	3118	0	0	0	0	0	0	28.83	26.45	28.83
3893	-0.47	-175.2	401.7	-7.2	217	3894	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	1933	3116	0	0	0	0	0	0	28.83	28.83	28.83
4193	-0.49	-175.2	423.2	-9.2	232	4195	0.00	0.00	-0.10	0.000	6	0.000	0.000	2033	1931	3135	0	0	0	0	0	0	28.83	28.83	25.97
4351	end dive: TARGET_DEPTH_EXCEEDED
state	4351	begin apogee
4356	-0.17	0.0	436.2	-7.8	240	4499	0.20	0.00	136.57	0.976	6	0.122	0.000	2103	1931	2410	0	0	0	0	0	0	26.17	28.83	24.22
4500	end apogee: CONTROL_FINISHED_OK
state	4501	begin climb
4502	0.54	175.2	438.9	0.0	247	4655	0.65	2.15	136.68	0.946	4	0.091	0.032	2332	3291	1692	0	0	0	0	0	0	25.37	25.26	24.18
4681	0.56	175.2	423.1	11.1	256	4686	0.00	2.00	0.00	0.000	6	0.000	0.023	2340	1910	1690	0	0	0	0	0	0	28.83	25.77	28.83
4999	0.58	175.2	397.3	8.7	272	5000	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	1910	1685	0	0	0	0	0	0	28.83	28.83	28.83
5301	0.61	225.1	380.1	6.8	287	5349	0.00	2.15	39.12	0.929	4	0.000	0.033	2340	3286	1490	0	0	0	0	0	0	28.83	25.73	24.56
5372	0.64	261.3	375.6	7.3	290	5411	0.00	2.03	29.85	0.905	6	0.000	0.022	2347	1891	1344	0	0	0	0	0	0	28.83	25.99	24.44
5725	0.68	296.9	352.3	7.3	308	5764	0.00	2.10	29.42	0.907	4	0.000	0.035	2347	525	1198	0	0	0	0	0	0	28.83	25.82	24.65
5787	0.71	320.9	347.5	7.7	311	5816	0.12	1.98	20.83	0.881	6	0.096	0.021	2400	1919	1099	0	0	0	0	0	0	25.94	26.06	24.51
6129	0.71	320.9	312.0	9.7	328	6134	0.00	1.98	0.00	0.000	4	0.000	0.033	2401	3272	1094	0	0	0	0	0	0	28.83	26.29	28.83
6205	0.71	320.9	305.9	9.6	331	6213	0.00	1.95	0.00	0.000	6	0.000	0.024	2407	1895	1092	0	0	0	0	0	0	28.83	26.40	28.83
6511	0.71	320.9	274.7	9.9	347	6518	0.00	2.03	0.00	0.000	4	0.000	0.035	2412	516	1092	0	0	0	0	0	0	28.83	26.34	28.83
6549	0.71	320.9	272.1	10.3	348	6556	0.00	1.95	0.00	0.000	6	0.000	0.021	2412	1911	1091	0	0	0	0	0	0	28.83	26.45	28.83
6855	0.71	320.9	237.3	10.8	364	6861	0.00	2.00	0.00	0.000	4	0.000	0.033	2412	3278	1090	0	0	0	0	0	0	28.83	26.35	28.83
6943	0.71	320.9	227.8	11.4	368	6949	0.00	1.95	0.00	0.000	6	0.000	0.023	2412	1897	1090	0	0	0	0	0	0	28.83	26.45	28.83
7261	0.71	320.9	193.4	11.7	384	7266	0.00	2.03	0.00	0.000	4	0.000	0.035	2412	518	1089	0	0	0	0	0	0	28.83	26.34	28.83
7333	0.72	320.9	186.6	11.0	387	7339	0.00	1.92	0.00	0.000	6	0.000	0.020	2412	1891	1089	0	0	0	0	0	0	28.83	26.47	28.83
7648	0.73	320.9	154.8	9.4	403	7649	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1895	1089	0	0	0	0	0	0	28.83	28.83	28.83
7949	0.77	367.9	130.0	6.9	418	7993	0.00	2.10	37.45	0.770	4	0.000	0.029	2412	3292	909	0	0	0	0	0	0	28.83	25.84	24.66
8057	0.80	390.7	122.1	7.7	423	8081	0.00	2.00	19.83	0.732	6	0.000	0.024	2412	1896	816	0	0	0	0	0	0	28.83	26.13	24.68
8394	0.86	467.6	97.3	6.0	440	8464	0.00	2.10	61.47	0.731	4	0.000	0.034	2412	514	502	0	0	0	0	0	0	28.83	25.64	24.64
8517	0.94	550.0	90.0	5.8	446	8581	0.15	2.03	56.03	0.708	6	0.083	0.019	2481	1921	209	0	0	0	0	0	0	25.94	26.06	24.58
8900	1.01	643.2	55.1	5.4	465	8905	0.00	1.98	0.00	0.000	4	0.000	0.028	2481	3285	206	0	0	0	0	0	0	28.83	26.29	28.83
8938	1.08	746.7	54.4	5.1	466	8945	0.00	2.00	0.00	0.000	6	0.000	0.023	2481	1886	206	0	0	0	0	0	0	28.83	26.36	28.83
9244	1.18	883.4	29.6	4.0	495	9250	0.12	2.00	0.00	0.000	4	0.093	0.031	2552	514	205	0	0	0	0	0	0	26.45	26.34	28.83
9293	1.20	883.4	25.7	8.6	499	9300	0.00	1.92	0.00	0.000	6	0.000	0.019	2552	1898	205	0	0	0	0	0	0	28.83	26.46	28.83
9462	end climb: SURFACE_DEPTH_REACHED
state	9462	begin surface coast
9479	end surface coast: CONTROL_FINISHED_OK
state	9479	begin surface